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#ifndef EXOTICA_CORE_TASK_SPACE_VECTOR_H_
#define EXOTICA_CORE_TASK_SPACE_VECTOR_H_

#include <exotica_core/tools/conversions.h>
#include <Eigen/Dense>
#include <kdl/frames.hpp>
#include <vector>

namespace exotica
{
struct TaskVectorEntry
{
    RotationType type = RotationType::RPY;
    int id = 0;

    TaskVectorEntry();
    TaskVectorEntry(int _id, RotationType _type);
    static std::vector<TaskVectorEntry> reindex(const std::vector<TaskVectorEntry>& _map, int _old_start, int _new_start);
};

struct TaskSpaceVector
{
    TaskSpaceVector();
    ~TaskSpaceVector();
    TaskSpaceVector& operator=(std::initializer_list<double> other);
    Eigen::VectorXd operator-(const TaskSpaceVector& other);
    void SetZero(int n);

    Eigen::VectorXd data;
    std::vector<TaskVectorEntry> map;
};
}

#endif  // EXOTICA_CORE_TASK_SPACE_VECTOR_H_
